Paper ID: 2409.19131

Signal Temporal Logic Planning with Time-Varying Robustness

Yating Yuan, Thanin Quartz, Jun Liu

This letter aims to generate a continuous-time trajectory consisting of piecewise Bézier curves that satisfy signal temporal logic (STL) specifications with piecewise time-varying robustness. Our time-varying robustness is less conservative than the real-valued robustness, which enables more effective tracking in practical applications. Specifically, our continuous-time trajectories account for dynamic feasibility, leading to smaller tracking errors and ensuring that the STL specifications can be met by the tracking trajectory. Comparative experiments demonstrate the efficiency and effectiveness of the proposed approach.

Submitted: Sep 27, 2024